/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
#define CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_

#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer/sensor/data.h"

namespace cartographer
{
	namespace sensor
	{

		template<typename DataType>
		class Dispatchable : public Data
		{
		public:
			Dispatchable(const std::string& sensor_id, const DataType& data)
				: Data(sensor_id), data_(data)
			{
			}

			common::Time GetTime() const override
			{
				return data_.time;
			}
			void AddToTrajectoryBuilder(
				mapping::TrajectoryBuilderInterface* const trajectory_builder) override
			{
				trajectory_builder->AddSensorData(sensor_id_, data_);
			}
			const DataType& data() const
			{
				return data_;
			}

		private:
			const DataType data_;
		};

		template<typename DataType>
		std::unique_ptr<Dispatchable<DataType>> MakeDispatchable(
			const std::string& sensor_id, const DataType& data)
		{
			return absl::make_unique<Dispatchable<DataType>>(sensor_id, data);
		}

	} // namespace sensor
} // namespace cartographer

#endif // CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
